version: 66.04
glider: 512
mission: 1
dive: 140
start: 12 29 110 7 42 57
data:
$ID,512
$MISSION,1
$DIVE,140
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,740
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51933
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8115.6318
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,54
$PITCH_MAX,3823
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,184
$ROLL_MAX,3899
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,399
$VBD_MAX,3960
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.916836
$PRESSURE_SLOPE,0.00011360509
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,6
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$DEVICE4,20
$DEVICE5,38
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043268236
$SEABIRD_T_H,0.00062176253
$SEABIRD_T_I,2.2895147e-05
$SEABIRD_T_J,2.4135268e-06
$SEABIRD_C_G,-9.7990599
$SEABIRD_C_H,1.0853468
$SEABIRD_C_I,-0.0020291714
$SEABIRD_C_J,0.00023101864
$GPS1,073434,2246.193,-15800.377,15,2.3,34,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.3
$GPS2,074202,2246.128,-15800.366,11,1.9,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.078,0.248
$KALMAN_X,-70491.2,-232.7,82.4,88977.5,607.1
$KALMAN_Y,-172060.3,2118.2,166.2,291721.8,-9206.9
$MHEAD_RNG_PITCHd_Wd,332.5,8464,-17.6,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.88,-146.0,0.0,0.0,0,94,0.00,0.00,-77.32,0.000,2,0.000,0.000,38,2563,3040
$GC,96,-0.88,-146.0,3.5,-6.4,10,121,11.12,2.25,-5.20,0.000,4,0.259,0.089,2545,3892,3299
$GC,366,-0.88,-146.0,91.8,-27.5,40,369,0.00,1.98,0.00,0.000,6,0.000,0.028,2551,2555,3301
$GC,632,-0.88,-146.0,158.8,-23.0,65,636,0.00,2.30,0.00,0.000,4,0.000,0.091,2543,3887,3303
$GC,782,-0.88,-146.0,194.1,-22.2,78,786,0.00,1.95,0.00,0.000,6,0.000,0.028,2551,2545,3303
$GC,1057,-0.88,-146.0,253.7,-20.7,87,1061,0.00,2.33,0.00,0.000,4,0.000,0.091,2542,3897,3304
$GC,1134,-0.88,-146.0,271.3,-21.0,88,1141,0.00,2.00,0.00,0.000,6,0.000,0.028,2550,2548,3304
$GC,1384,-0.88,-146.0,321.2,-19.5,95,1388,0.00,2.30,0.00,0.000,4,0.000,0.091,2540,3886,3304
$GC,1455,-0.88,-146.0,335.5,-19.4,96,1459,0.00,1.98,0.00,0.000,6,0.000,0.029,2547,2548,3304
$GC,1710,-0.88,-146.0,381.0,-17.6,103,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2541,3304
$GC,1954,-0.88,-146.0,420.0,-15.8,109,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2541,3303
$GC,2198,-0.88,-146.0,459.1,-16.4,115,2202,0.00,2.30,0.00,0.000,4,0.000,0.093,2538,3885,3301
$GC,2365,-0.88,-146.0,489.2,-18.6,118,2371,0.00,1.98,0.00,0.000,6,0.000,0.030,2544,2554,3300
$STATE,2451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2452,begin apogee
$GC,2456,-0.32,0.0,503.8,17.2,121,2577,0.70,0.00,118.47,0.934,6,0.189,0.000,2739,2546,2700
$STATE,2578,end apogee,CONTROL_FINISHED_OK
$STATE,2578,begin climb
$GC,2580,0.88,146.0,508.8,0.0,124,2719,1.25,2.22,125.65,0.930,4,0.123,0.030,3136,1154,2103
$GC,2746,0.88,146.0,476.6,30.2,128,2750,0.00,2.33,0.00,0.000,6,0.000,0.052,3136,2545,2099
$GC,3024,0.88,146.0,383.4,34.1,135,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2545,2093
$GC,3268,0.88,146.0,309.8,29.6,141,3272,0.00,2.10,0.00,0.000,4,0.000,0.032,3146,1147,2091
$GC,3289,0.88,146.0,303.4,28.5,141,3294,0.00,2.22,0.00,0.000,6,0.000,0.048,3146,2552,2090
$GC,3558,0.88,146.0,231.1,27.1,148,3562,0.00,2.12,0.00,0.000,4,0.000,0.034,3156,1141,2088
$GC,3686,0.88,146.0,198.2,25.7,150,3694,0.00,2.25,0.00,0.000,6,0.000,0.051,3150,2542,2087
$GC,3949,0.88,146.0,127.9,27.6,175,3953,0.00,2.08,0.00,0.000,4,0.000,0.031,3158,1137,2085
$GC,3986,0.88,146.0,118.5,21.6,178,3995,0.00,2.28,0.00,0.000,6,0.000,0.056,3159,2547,2084
$GC,4250,0.88,146.0,56.3,20.6,203,4253,0.00,2.15,0.00,0.000,4,0.000,0.063,3158,3898,2084
$STATE,4465,end climb,SURFACE_DEPTH_REACHED
$STATE,4465,begin surface coast
$FINISH,0.1,1.023521
$STATE,4477,end surface coast,CONTROL_FINISHED_OK
$STATE,4477,begin surface
$SM_CCo,4495,122.38,0.575,0,0,986,420.19
$SM_GC,1.17,0.00,0.00,122.38,0.000,0.000,0.575,46,2539,986,-8.76,-0.31,420.19
$IRIDIUM_FIX,2239.35,-15802.37,240300,070730
$TT8_MAMPS,0.023777
$HUMID,1797
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,24.5,24.437
$10V_AH,10.8,13.563
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.750,43.150,244.125,122.375,0.000,49.857,85.674,164.702,0.000,0.000,0.000,11.645,496.194,2858.129,448.233,893.018,388.784,33.311,813.995,0.000,898.016,0.000,0.543,0.000
$DEVICE_MAMPS,259.246,92.807,934.206,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,SBE_O2,WL_BB2F,nil,nil,nil
$SENSOR_SECS,157.071,400.256,410.599,95.447,395.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19362,234
$CAP_FILE_SIZE,43762,0
$CFSIZE,260165632,253632512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,291210,090044,2246.576,-15800.689,15,1.1,15,10.1